Stormy logo created by LogoDesignGen

Original Parallax Stingray robot, no longer in production

Recreating Stingray top/bottom plates in 1/4" acrylic

Assembled Stormy the Stingray robot

HARDWARE

2 motors: Pololu 50:1 37Dx70L mm 12V 64 CPR Encoder 6mm D output shaft 50 x 64 = 3200 counts / revolution Product Link

2 Stingray 4 7/8" T81 hex hub wheels (no longer available from Parallax) Product Link

6mm D to 12mm Hex snap ring hub adapter. 3D CAD file on source web site. Product Link

Wheel Specifications:

4 7/8" dia = 0.123825m dia

wheel radius = 0.123825m dia / 2 = 0.0619125 = 0.062m

wheel circumference = 0.123825m dia x Pi = 0.3890m circ = m/rev

confirmed by tape measurement of circumference

revolutions / meter = 1m / 0.39 m/R = 2.57 R/m

counts / meter = 2.57 R/m x 3200 C/R = 8226 C/m

CPU

GeeekPi PD Power Expansion Board Product Link	Raspberry Pi 5 8GB Product Link
PCIe Hat Product Link	PCIe Memory Product Link

Power

LiPo 14.8V 9000mAh 100C Zeee battery Product Link	LiPo battery low voltage 'screamer' Product Link	Emergency stop button Product Link
12V power bus from junk parts	Shunt Regulator Product Link	Roboclaw 2x7A Product Link
Remote kill switch Product Link	headlights Product Link	Slide switch DPDT to control headlights Product Link

FHL-LD19 LIDAR alternative to belt driven YDLIDAR

(https://www.amazon.com/youyeetoo-D300-Resistant-Raspberry-Tutorial/dp/B0B1QCV4XR/ref=sr_1_9?crid=GBKQQ6TOP7I9&dib=eyJ2IjoiMSJ9.3NGNTEEsWwmKKzft2nw9PEsxL_a2fZEg8dWOCb5LINxSFW_i2Hot02zOYrE5bahnLaXCdAbxwit_ff-l1HdMJp9TILkw_Vlv9y362cKWiuGT64lehB9rtrfrTWqACO0WGPuC5XxdWpRxTYKJ751FqG9EIPmyVeML42rqj3dsKy8MNObA6mYIGqzbKA7oxb9ELgJ8ELM-B7TSC64fO2KthNZ76m7nEF_bYiy4-KpDZA8.Kd8XGydx2y4ZKHXdVJJTzJ6YGFxsGnmTSEBMjzXUOQo&dib_tag=se&keywords=lidar+19&qid=1756000148&sprefix=lidar+19%2Caps%2C126&sr=8-9)

Camera options

Fisheye camera Product Link

OAK-D Product Link

Intel RealSense 455 Product Link

ACCESSORIES

Standoffs, hex, M2.5 x 18mm, 1/4 male-female

to replace the ones in the 52Pi Power expansion board as additional standoffs come below it for the PCIe card.

SOFTWARE

Ubuntu 24.04 Noble Numbat Product Link	ROS2 Jazzy Product Link
Gazebo Harmonic Product Link	ROS2 Navigation2 Product Link

MISSIONS

Floorbot Challenge I Using Nav2 Goal Pose

View the Mission: Rviz2 screencast of the path plan

https://www.youtube.com/watch?v=YAfdKwbhIpI

View the Video: iPhone piggyback ride on Stormy

(between the battery and the emergency stop button)

https://www.youtube.com/watch?v=Kj8ijCCRR4o

Floorbot Challenge II Using Waypoints

View the Mission: Rviz2 screencast of the path plan

https://studio.youtube.com/video/tqyFS87C4XA/edit

View the Mission: Rvis2 scrdeencast of the path plan

https://studio.youtube.com/video/uny75an7diY/edit

DISCONTINUED PARTS

Low Voltage Disconnect (not in use)

(https://www.amazon.com/Electronics-Salon-Voltage-Disconnect-Protect-Prolong/dp/B019F3BEIO/ref=sr_1_3?dib=eyJ2IjoiMSJ9.MFR00rua67FbXgt5cVUuaoJQSFN0M4EhvuYqqyPu9BIFMvDOk0JJI_P3q8LbJBVy_127psVzsy6r_4oAli56S1jtgHLE5sTKChn5KOFdIsZNRjjiSQwwE2279vxq7DvK7kZKI-NkZX4_5)

Powered USB hub NOT IN USE - NOT UP TO THE TASK!

to power Raspberry Pi and provide peripheral input to Pi (2 separate ports)

(https://www.amazon.com/Anker-7-Port-Adapter-Charging-iPhone/dp/B014ZQ07NE/ref=asc_df_B014ZQ07NE?mcid=dbaa364fb9c733eeb044038a55add1f7&hvocijid=14883402360339246539-B014ZQ07NE-&hvexpln=73&tag=hyprod-20&linkCode=df0&hvadid=721245378154&hvpos=&hvnetw=g&hvrand=14883402360339246539&hvpone=&hvptwo=&hvqmt=&hvdev=c&hvdvcmdl=&hvlocint=&hvlocphy=9027693&hvtargid=pla-2281435179818&th=1)

YDLIDAR X2 drive belt deteriorated after years with no easy replacement. See LD19 (or LD27 replacement)

(https://www.amazon.com/gp/product/B07W613C1K/ref=ppx_od_dt_b_asin_title_s00?ie=UTF8&psc=1)

Buck voltage converter Replaced by 51Pi power hat

(https://www.aliexpress.com/item/32881619997.html)